A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance

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• 作者：Xing Fang ; Aiguo Wu ; Yujia Shang ; Na Dong
• 关键词：Small ; scale unmanned helicopter ; Sliding mode control ; Feedback linearization ; Enhanced nonlinear disturbance observer ; Mismatched disturbance ; Chattering attenuation ; Uniformly ultimately bounded
• 刊名：Nonlinear Dynamics
• 出版年：2016
• 出版时间：January 2016
• 年：2016
• 卷：83
• 期：1-2
• 页码：1053-1068
• 全文大小：1,243 KB
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• 作者单位：Xing Fang (1)
  Aiguo Wu (1)
  Yujia Shang (1)
  Na Dong (1)
  
  1. School of Electrical Engineering and Automation, Tianjin University, Tianjin, China
  
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

This paper presents a novel sliding mode control (SMC) strategy based on approximate feedback linearization and enhanced nonlinear disturbance observer for small-scale unmanned helicopters with high-order time-varying matched and mismatched disturbance. The novel SMC method is developed by designing a new sliding surface with the estimation of mismatched disturbance and its derivative. The proposed novel SMC method possesses following two appealing traits. First, it is robust with both matched disturbance and mismatched disturbance. Second, the chattering problem can be attenuated significantly. Moreover, the uniformly ultimately bounded stability of the closed-loop helicopter system is proved by theoretical analysis. Finally, the excellent tracking performance and robustness of the proposed flight control scheme are demonstrated by simulation results. Keywords Small-scale unmanned helicopter Sliding mode control Feedback linearization Enhanced nonlinear disturbance observer Mismatched disturbance Chattering attenuation Uniformly ultimately bounded